【摘要】 设计了一种适用于多规格穴盘苗移栽的移栽机。移栽机的硬件主要由移栽机械手、框架和苗盘输送系统组成。移栽机械手末端执行器的水平运动、升降和抓紧放松动作分别由3个步进电机驱动完成。利用轨迹规划确定移栽机械手末端执行器的位置,速度和加速度,并讨论了在平面内进行轨迹规划的方法。建立了移栽机的ADAMS简化模型,通过运动学仿真验证了结构设计、轨迹规划的合理性,为物理样机的优化设计提出了理论依据。更多还原

【Abstract】 A transplanter applied to multi-spec potted trays was designed.The transplanter’s hardwares are mainly consisted of transplant manipulator,frame and potted tray transportation system.The end-effector’s level motion,actions of up and down,and clutching and releasing are driven by 3 different stepping motors.The end-effector’s position,velocity and acceleration are eleterinined by trajectory plan.The way of planning trajectories in a plane was settled.A simplified model of the transplanter was established in ADAMS.Through kinematics simulation,the rationality of structure design and planned trajectories of the transplanter were proved.The research provides a theoryetical basis for optimal design of the prototype machine.更多还原